CN106426168A - Bionic mechanical arm and control method thereof - Google Patents
Bionic mechanical arm and control method thereof Download PDFInfo
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- CN106426168A CN106426168A CN201610908173.2A CN201610908173A CN106426168A CN 106426168 A CN106426168 A CN 106426168A CN 201610908173 A CN201610908173 A CN 201610908173A CN 106426168 A CN106426168 A CN 106426168A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Artificial Intelligence (AREA)
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- Mathematical Physics (AREA)
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Abstract
The invention discloses a bionic mechanical arm and a control method thereof. The bionic mechanical arm comprises action capturing equipment, a PC control end, a micro controller and an actuation mechanism; the action capturing equipment is wirelessly connected with the PC control end for realizing data transmission and communication; the PC control end is wirelessly connected with the micro controller; and the micro controller is connected with the actuation mechanism. The control method comprises the following steps: the positions of all joints for human body actions are obtained; the direction vectors between the adjacent joints of human bodies are calculated by using the positions of all the joints for human body actions; and the direction vectors between the adjacent joints of the human bodies are matched with the direction vectors between corresponding adjacent joints of robots to obtain target angles needed by the robots to move. The bionic mechanical arm is used for aerial operation, can simulate actions of human arms in real time to replace persons to perform the aerial operation, can relieve heavy work of the persons, and can prevent the operation dangers caused by high altitude and high voltage.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of biomimetic manipulator and its control method.
Background technology
At present, the operation such as the maintenance of high tower, installation such as electric tower, communication pylon is also by being accomplished manually, and people makees in high-altitude
Industry exists greatly dangerous, and especially electric tower also has that Keep Clear-High Voltage.Many institutions conduct are to work high above the ground machine both at home and abroad
The research of people, existing work high above the ground robot mostly is computer and controls the action of its action, robot be fully achieved operator
The Expected Results of member.
Content of the invention
The invention provides biomimetic manipulator and its control method together, can imitate the action of human arm in real time.
For achieving the above object, the present invention is adopted the following technical scheme that, a kind of biomimetic manipulator, is set including motion capture
Standby, PC control end, microcontroller and actuator, motion capture equipment is wirelessly connected with PC control end, realizes data transfer
With communication, PC control end is wirelessly connected with microcontroller, and microcontroller is connected with actuator；The actuator includes
External environment condition detection module, mechanical arm, climbing mechanism, mechanical arm fixing device；The mechanical arm includes mechanical gripping, forearm and big
Arm, forearm one end is connected by joint with mechanical gripping, and the forearm other end is connected by joint with large arm one end, and the large arm other end leads to
Cross joint to be connected with mechanical arm fixing device.
Preferably, the motion capture equipment is Kinect.
It is further preferred that the external environment condition detection module includes minisize pick-up head and infrared sensor.
It is further preferred that the mechanical arm fixing device includes base and sucker.
The step of control method of biomimetic manipulator is：Each joint position of human action is obtained, using the human body
Each joint position of action calculates the direction vector between human body adjacent segment；By the direction vector between the human body adjacent segment
Direction vector between adjacent segment corresponding with robot is mated, and obtains the target angle that robot need to be moved to.
It is further preferred that the direction vector between the human body adjacent segment is normalized, to the adjacent pass of robot
The direction vector of internode is normalized；Using the direction vector between normalized human body adjacent segment and normalized robot
Direction vector between adjacent segment obtains the error function with respect to robot coordinate system；Minima is made to the error function excellent
Change and solve, obtain the joint angle that robot need to be moved to.
It is further preferred that the error function is：
Wherein,BHiIt is expressed as the direction vector between human body adjacent segment in robot coordinate system；BVi(θ) it is expressed as in machine
Direction vector in people's coordinate system between robot adjacent segment,BVi(θ) it is function expression with regard to joint angle θ；N represents limbs
Number, i represents certain limbs,BS represents error amount, ωiRepresent the weights of i-th limbs.
The having the beneficial effect that of patent of the present invention：
1st, the present invention is used for work high above the ground, and the action that can imitate human arm in real time replaces people to carry out work high above the ground, not only can
The heavy labor of people is released, the operation danger that high-altitude, high pressure can also be avoided to be brought.
2nd, the control method application inverse kinematic of control biomimetics mechanical arm and LP optimization method, and intended with Bezier
Track is closed, the human body information of sensor detection is mapped in robot and makes which execute similar movement.The method is simple to operate,
Advantage of lower cost and stability is higher.Also, this method is by the higher level intelligent research on subsequent robot's platform
With important function, such as based on the dancing for following music rhythm for imitating behavior of men, biped is walked, and article is captured, or even
Robot is it will be appreciated that the behavior behavior imitated according to study is independently taken action etc.；For from industry, the system has
Preferably interesting, will be more attractive to toy industry.
Description of the drawings
Fig. 1 is the module diagram of the present invention；
Fig. 2 is the structural representation of mechanical arm.
Wherein：1- motion capture equipment, 2-PC control end, 3- microcontroller, 4- actuator, 41- external environment condition is examined
Survey module, 42- mechanical arm, 43- climbing mechanism, 44- mechanical arm fixing device, 421- joint, 422- large arm, 423- forearm,
424- mechanical gripping.
Specific embodiment
It is further explained below in conjunction with Fig. 1 to the 2 couple of present invention, but does not limit to the present invention.
A kind of biomimetic manipulator, including motion capture equipment 1, PC control end 2, microcontroller 3 and actuator 4, moves
Make seizure equipment 1 to be wirelessly connected with PC control end 2, realize data transfer and communication, PC control end 2 is wireless with microcontroller 3
Connection, microcontroller 3 is connected with actuator 4；The actuator 4 include external environment condition detection module 41, mechanical arm 42,
Climbing mechanism 43, mechanical arm fixing device 44；The mechanical arm 42 includes mechanical gripping 424, forearm 423 and large arm 422, forearm
423 one end are connected by joint 421 with mechanical gripping 424, and 423 other end of forearm is connected by joint 421 with 422 one end of large arm,
422 other end of large arm is connected with mechanical arm fixing device 44 by joint 421.The motion capture equipment 1 is Kinect.Described
External environment condition detection module 41 includes minisize pick-up head and infrared sensor.The mechanical arm fixing device 44 includes base and suction
Disk.
In the course of the work, where biomimetic manipulator moves to operation to be carried out by its climbing mechanism 43, external rings
Border detection module 41 monitors external environment condition, and testing result is fed back to microcontroller 3, and microcomputer is passed data to
PC control end 2, operator carry out corresponding arm action according to testing result, and now motion capture equipment 1 records human body and moves
Make and record result is transferred to PC control end 2, PC control end 2 corresponding computing is carried out, joint angular data is drawn, by wifi
Or wire transmission, to robot, robot is moved using these joint angles such that it is able to execute similar to the mankind
Action, realizes robot apish action in real time；Additionally, microcontroller 3 can export joint angle automatically according to historical data
Data, so as to realize automatically controlling to mechanical arm 42.
Based on above-mentioned operation principle, the present invention proposes a kind of control method of biomimetic manipulator, including：
Each 421 position of joint of human action is obtained, goes out people's body phase using 421 position calculation of each joint of the human action
Direction vector between adjacent joint 421；
Direction vector between corresponding with robot for direction vector between the human body adjacent segment 421 adjacent segment 421 is entered
Row coupling, obtains the target angle that robot need to be moved to.
For the present embodiment, using Kinect as motion capture equipment 1.But this is not limited solely to
Kinect, we also used wearable device to carry out capturing motion.But for explanation purposes, we are only discussed in detail use
The system of Kinect.The depth information of human body can be converted in the routine interface of the Kinect of Microsoft's production the bone of human body
Frame, so as to know the three-dimensional location coordinates information in each joint 421.
For the technical program, it is related to two coordinate systems.Respectively robot coordinate system and world coordinate system.
As Kinect only obtains the direction vector between each 421 coordinate data of joint of human body and limbs, rather than limbs
All parameters.For example, if rotating along robot coordinate axle, coordinate data is not interfered with, but is affected coupled
The parameter of other limbs.Based on this, this case proposes the optimization for whole limb control angle.
By the data normalization obtained by Kinect, the direction vector of 421 points of two adjacent segment will be connected divided by two
The distance that 421 points of joint, can thus obtain unit vector of each human synovial 421 with respect to a upper joint 421.
Due to most anthropomorphic robot, such as NAO, there is diverse size with human body, to robot adjacent segment 421
Between direction vector be normalized；Using the direction vector between normalized human body adjacent segment 421 and normalized machine
Direction vector between people's adjacent segment 421 obtains the error function with respect to robot coordinate system；By optimizing error function
Method obtains the joint angle that robot need to be moved to.Wherein, the error function is：
Wherein,BHiIt is expressed as the direction vector between human body adjacent segment 421 in robot coordinate system；BVi(θ) it is expressed as in machine
Direction vector in device people's coordinate system between robot adjacent segment 421,BVi(θ) it is function expression with regard to the 421 jiaos of θ in joint；n
Represent limbs number, i represents certain limbs,BS represents error amount, ωiRepresent the weights of i-th limbs.
The error function of above formula is optimized using inverse kinematics method, error optimization problem under prescribed conditions turns
It is turned into i.e. as following equations：
Wherein, make under the restrictive condition of given joint angle θBS minimum.
For above-mentioned optimization problem, this is solved using Levenberg-Marquardt algorithm (hereinafter referred to as LM algorithm)
Problem.LM algorithm is the combination of gradient descent algorithm and Gauss-Newton algorithm, and the process of its iteration can have following equations to represent：
Wherein, k represents frame number, θkRepresent all joint angle vectors of the robot tried to achieve of kth frame, j represents the iteration of LM algorithm
Number of times；BSkError between the corresponding human body that obtains for kth frame robot each limbs vector and Kinect is vectorial, the dimension of θ is
Counted by the joint 421 of specific limbs and to determine；J represents Jacobian matrix of the error function with regard to θ；λ is accommodation coefficient to change
The speed of convergence and the stability of algorithm, when λ is compared with hour, convergence rate is higher.If meeting following condition：
||θk+1,j+1-θk+1,j| | ＜ ε1orBSk＜ ε2
That is+1 frame of kth, the mould of the acquired joint of robot angle vector difference of iteration twice before and after LM algorithm, less than specific threshold
ε1Or each limbs vector of kth frame robot is less than specific threshold ε with the deviation of the human body vector of Kinect acquisition2, iterative process will
Can terminate, while in order to avoid diverging, we can arrange a maximum iteration time value to force to stop.
Summary embodiment, the method for the invention is applied to NAO robot, can summarize the concrete optimization of joint angle
Flow process：Kinect catch human action each joint angle, calculate the direction vector between adjacent segment 421, by this direction to
Amount each joint 421 direction vectors corresponding with NAO robot itself are mated (even if the error function minimum in the 7th article) and are obtained
To the target angle that NAO robot should be moved to.Subsequently, pilot angle is sent by the device communication module of NAO robot, makes machine
The each joint 421 of people is moved to target angle have been realized robot and has followed human action.
After obtaining, by said method, the target angle that mechanical arm 42 need to be moved to, it would be desirable to 42 joint of mechanical arm
421 motors propose control method：It is controlled by the equipment communication management module of itself software development environment of NAO robot.
Equipment communication management module is a part for NAO robot software's development environment, and which is responsible for most of robot electricity
The communication of sub- equipment room.Equipment communication management module has independent real-time thread, executes once per 10s.In order to connect brake,
Action module regularly would generally send renewal request to equipment communication management module.Then equipment communication management module is calculated and should be asked
A linear approximation asking simultaneously sends it to appropriate device.By in each real-time thread ring arrange angle on target come
Using equipment communication management module.Joint 421 is driven to target angle to obtain the pilot angle of next real-time thread ring, I
Set up the track of each degree of freedom.
Above in conjunction with accompanying drawing, the embodiment of patent of the present invention is elaborated, but patent of the present invention is not limited to
Above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also be without departing from patent of the present invention
Ancestor.
Claims (7)
1. a kind of biomimetic manipulator, it is characterised in that：Including motion capture equipment (1), PC control end (2), microcontroller (3)
With actuator (4), motion capture equipment (1) is wirelessly connected with PC control end (2), realize data transfer and communication, and PC controls
End (2) is wirelessly connected with microcontroller (3), and microcontroller (3) is connected with actuator (4)；
Described actuator (4) include that external environment condition detection module (41), mechanical arm (42), climbing mechanism (43), mechanical arm are solid
Determine device (44)；
Described mechanical arm (42) include mechanical gripping (424), forearm (423) and large arm (422), forearm (423) one end and mechanical gripping
(424) connected by joint (421), forearm (423) other end is connected by joint (421) with large arm (422) one end, large arm
(422) other end is connected with mechanical arm fixing device (44) by joint (421).
2. biomimetic manipulator according to claim 1, it is characterised in that：Described motion capture equipment (1) is Kinect.
3. biomimetic manipulator according to claim 1, it is characterised in that：Described external environment condition detection module (41) include micro-
Type photographic head and infrared sensor.
4. biomimetic manipulator according to claim 1, it is characterised in that：Described mechanical arm fixing device (44) include base
And sucker.
5. a kind of control method method of biomimetic manipulator, it is characterised in that：
Each joint (421) position of human action is obtained, goes out people using each joint (421) position calculation of the human action
Direction vector between body adjacent segment (421)；
By the direction between the direction vector corresponding with robot adjacent segment (421) between human body adjacent segment (421) to
Amount is mated, and obtains the target angle that robot need to be moved to.
6. method as claimed in claim 5, it is characterised in that：The method of the coupling be to the human body adjacent segment
(421) direction vector between is normalized, and the direction vector between robot adjacent segment (421) is normalized；Utilize
The direction between direction vector and normalized robot adjacent segment (421) between normalized human body adjacent segment (421) to
Amount obtains the error function with respect to robot coordinate system；Make minima Optimization Solution to the error function, obtain robot
The joint angle that need to move to.
7. method as claimed in claim 6, it is characterised in that the error function is：
Wherein,BHiIt is expressed as the direction vector between human body adjacent segment in robot coordinate system；BVi(θ) it is expressed as in robot
Direction vector in coordinate system between robot adjacent segment (421),BVi(θ) it is function expression with regard to joint angle θ；N represents
Limbs number, i represents certain limbs,BS represents error amount, ωiRepresent the weights of i-th limbs.
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| CN201610908173.2A CN106426168A (en) | 2016-10-19 | 2016-10-19 | Bionic mechanical arm and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826838A (en) * | 2017-04-01 | 2017-06-13 | 西安交通大学 | A kind of interactive biomimetic manipulator control method based on Kinect space or depth perception sensors |
| CN108839017A (en) * | 2018-06-25 | 2018-11-20 | 盐城工学院 | A kind of anthropomorphic robot control system based on the sense of hearing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826838A (en) * | 2017-04-01 | 2017-06-13 | 西安交通大学 | A kind of interactive biomimetic manipulator control method based on Kinect space or depth perception sensors |
| CN108839017A (en) * | 2018-06-25 | 2018-11-20 | 盐城工学院 | A kind of anthropomorphic robot control system based on the sense of hearing |
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Application publication date: 20170222 |